When you drink a small amount of something, you sip it. One gets an image as one reads of bearded, besandalled academics sipping their coffee while dreaming of authentic, masculine, working. The meaning of sip is to take a sip of something especially repeatedly.
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An act or instance of sipping; Stone slouched against the teak railing, sipping at the champagne, his mind at ease. To drink from a little at a time.
To drink (a liquid) a little at a time;
If your cocoa is extremely hot, you should probably sip it until it cools off a little bit.